JP6853740B2 - Hydraulic system - Google Patents

Hydraulic system Download PDF

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Publication number
JP6853740B2
JP6853740B2 JP2017118568A JP2017118568A JP6853740B2 JP 6853740 B2 JP6853740 B2 JP 6853740B2 JP 2017118568 A JP2017118568 A JP 2017118568A JP 2017118568 A JP2017118568 A JP 2017118568A JP 6853740 B2 JP6853740 B2 JP 6853740B2
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pump
bleed valve
sudden acceleration
valve
opening area
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JP2019002512A (en
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哲弘 近藤
哲弘 近藤
英泰 村岡
英泰 村岡
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Kawasaki Motors Ltd
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Kawasaki Jukogyo KK
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Priority to JP2017118568A priority Critical patent/JP6853740B2/en
Priority to GB2000641.7A priority patent/GB2578699B/en
Priority to CN201880033502.0A priority patent/CN110621887B/en
Priority to US16/623,273 priority patent/US10851809B2/en
Priority to PCT/JP2018/022723 priority patent/WO2018230642A1/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • F15B11/042—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the feed line, i.e. "meter in"
    • F15B11/0423—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the feed line, i.e. "meter in" by controlling pump output or bypass, other than to maintain constant speed
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
    • E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
    • F15B11/165—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load for adjusting the pump output or bypass in response to demand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/40—Flow control
    • F15B2211/415—Flow control characterised by the connections of the flow control means in the circuit
    • F15B2211/41563—Flow control characterised by the connections of the flow control means in the circuit being connected to a pressure source and a return line
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/40—Flow control
    • F15B2211/42—Flow control characterised by the type of actuation
    • F15B2211/426—Flow control characterised by the type of actuation electrically or electronically
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/40—Flow control
    • F15B2211/45—Control of bleed-off flow, e.g. control of bypass flow to the return line
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6346—Electronic controllers using input signals representing a state of input means, e.g. joystick position
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/85—Control during special operating conditions
    • F15B2211/851—Control during special operating conditions during starting

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Operation Control Of Excavators (AREA)

Description

本発明は、ブリード弁を含む油圧システムに関する。 The present invention relates to a hydraulic system including a bleed valve.

従来から、建設機械や産業機械などでは、ポンプから制御弁を介して油圧アクチュエータへ作動油を供給する油圧システムが用いられている。このような油圧システムには、ポンプから吐出された作動油をタンクへ逃すブリード弁（アンロード弁ともいう）を含むものもある。 Conventionally, in construction machinery and industrial machinery, a hydraulic system that supplies hydraulic oil from a pump to a hydraulic actuator via a control valve has been used. Some such hydraulic systems include a bleed valve (also referred to as an unload valve) that allows hydraulic oil discharged from the pump to escape to the tank.

例えば、特許文献１には、電気信号により作動するブリード弁と、このブリード弁を制御する制御装置を含む油圧システムが開示されている。制御装置は、油圧アクチュエータを作動させるための操作装置の操作量が大きくなるほどブリード弁の開口面積が減少するようにブリード弁を制御する。 For example, Patent Document 1 discloses a hydraulic system including a bleed valve operated by an electric signal and a control device for controlling the bleed valve. The control device controls the bleed valve so that the opening area of the bleed valve decreases as the amount of operation of the operating device for operating the hydraulic actuator increases.

特開平７−６３２０３号公報Japanese Unexamined Patent Publication No. 7-63203

ところで、操作装置に対して急加速操作（油圧アクチュエータの速度を急激に上昇させる操作）が行われたとき、例えば操作装置が中立状態から瞬時にフル操作状態に操作されたときは、ブリード弁の開口面積も瞬時に変化し、油圧アクチュエータへの作動油の供給量が急激に増加する。このとき、油圧アクチュエータの慣性と作動油の圧縮性により、油圧アクチュエータの挙動にハンチングが生じ易い。 By the way, when a sudden acceleration operation (an operation for rapidly increasing the speed of the hydraulic actuator) is performed on the operating device, for example, when the operating device is instantly operated from the neutral state to the full operation state, the bleed valve The opening area also changes instantaneously, and the amount of hydraulic oil supplied to the hydraulic actuator increases sharply. At this time, hunting is likely to occur in the behavior of the hydraulic actuator due to the inertia of the hydraulic actuator and the compressibility of the hydraulic oil.

このようなハンチングを抑制して油圧アクチュエータの挙動を安定化させるには、ブリード弁の最低開口面積をゼロよりも大きく設定することが考えられる。しかしながら、このようにした場合には、操作装置に対して緩加速操作（油圧アクチュエータの速度をゆっくりと上昇させる操作）が行われたときに、ポンプの吐出圧が目的圧まで上昇しないばかりでなく、ポンプからブリード弁を通じてタンクへ常に作動油が逃されることになり、ポンプの駆動に要したエネルギが無駄に消費されることになる。 In order to suppress such hunting and stabilize the behavior of the hydraulic actuator, it is conceivable to set the minimum opening area of the bleed valve to be larger than zero. However, in this case, not only does the discharge pressure of the pump not rise to the target pressure when a slow acceleration operation (an operation of slowly increasing the speed of the hydraulic actuator) is performed on the operating device. , The hydraulic oil is always released from the pump to the tank through the bleed valve, and the energy required to drive the pump is wasted.

そこで、本発明は、エネルギの無駄な消費を抑制しつつ、急加速操作時の油圧アクチュエータの挙動を安定化することができる油圧システムを提供することを目的とする。 Therefore, an object of the present invention is to provide a hydraulic system capable of stabilizing the behavior of a hydraulic actuator during a sudden acceleration operation while suppressing wasteful consumption of energy.

前記課題を解決するために、本発明の油圧システムは、操作部に対する操作量に応じた操作信号を出力する操作装置と、制御弁を介して油圧アクチュエータへ作動油を供給するポンプと、前記ポンプから吐出された作動油をタンクへ逃すブリード流量を規定するブリード弁と、前記操作装置から出力される操作信号が大きくなるほど前記ブリード弁の開口面積が減少するように前記ブリード弁を制御する制御装置と、を備え、前記制御装置は、前記操作装置に対して急加速操作が行われたか否かを判定し、急加速操作が行われない場合には、前記ブリード弁の開口面積を標準開口線に沿って最大値とゼロとの間で変化させ、急加速操作が行われた場合には、急加速操作の開始から所定時間経過するまでは、前記ブリード弁の開口面積を特殊開口線に沿って前記最大値とゼロよりも大きな最小値との間で変化させる、ことを特徴とする。 In order to solve the above problems, the hydraulic system of the present invention includes an operation device that outputs an operation signal according to an operation amount to the operation unit, a pump that supplies hydraulic oil to the hydraulic actuator via a control valve, and the pump. A bleed valve that regulates the bleed flow rate that allows hydraulic oil discharged from the tank to escape to the tank, and a control device that controls the bleed valve so that the opening area of the bleed valve decreases as the operation signal output from the operating device increases. The control device determines whether or not a sudden acceleration operation has been performed on the operating device, and if the sudden acceleration operation is not performed, the opening area of the bleed valve is set to a standard opening line. When a sudden acceleration operation is performed by changing the value between the maximum value and zero along the above, the opening area of the bleed valve is set along the special opening line from the start of the sudden acceleration operation until a predetermined time elapses. It is characterized in that the maximum value is changed between the maximum value and the minimum value larger than zero.

上記の構成によれば、急加速操作時には、急加速操作の開始から所定時間経過するまではブリード弁の開口面積がゼロよりも大きく保たれるので、油圧アクチュエータの挙動を安定化することができる。一方、非急加速操作時には、ブリード弁の開口面積が標準開口線に沿って変化して操作量が大きくなればブリード弁の開口面積がゼロとなるので、エネルギの無駄な消費を抑制することができる。 According to the above configuration, during the sudden acceleration operation, the opening area of the bleed valve is maintained larger than zero from the start of the sudden acceleration operation until a predetermined time elapses, so that the behavior of the hydraulic actuator can be stabilized. .. On the other hand, during non-rapid acceleration operation, if the opening area of the bleed valve changes along the standard opening line and the amount of operation increases, the opening area of the bleed valve becomes zero, so wasteful energy consumption can be suppressed. it can.

前記制御装置は、急加速操作が行われた場合には、急加速操作の開始から所定時間経過したときに、前記ブリード弁の開口面積を、前記特殊開口線上の点から前記標準開口線上の点にシフトさせてもよい。急加速操作の開始から所定時間経過した後も、ブリード弁の開口面積を特殊開口線上の点に維持することも可能であるが、急加速操作の開始から所定時間経過したときに、ブリード弁の開口面積を標準開口線上の点にシフトさせれば、急加速操作時の所定時間経過後もエネルギの無駄な消費を抑制することができる。 When a sudden acceleration operation is performed, the control device changes the opening area of the bleed valve from a point on the special opening line to a point on the standard opening line when a predetermined time elapses from the start of the sudden acceleration operation. You may shift to. It is possible to maintain the opening area of the bleed valve at a point on the special opening line even after a predetermined time has elapsed from the start of the sudden acceleration operation, but when a predetermined time has elapsed from the start of the sudden acceleration operation, the bleed valve By shifting the opening area to a point on the standard opening line, it is possible to suppress wasteful energy consumption even after a predetermined time has elapsed during the sudden acceleration operation.

例えば、前記ポンプは、可変容量型のポンプであり、上記の油圧システムは、前記ポンプの傾転角を調整するレギュレータをさらに備え、前記制御装置は、前記操作装置から出力される操作信号が大きくなるほど前記ポンプの吐出流量が増加するように、前記レギュレータを制御してもよい。 For example, the pump is a variable displacement pump, the hydraulic system further includes a regulator for adjusting the tilt angle of the pump, and the control device has a large operation signal output from the operation device. Indeed, the regulator may be controlled so that the discharge flow rate of the pump increases.

あるいは、前記ポンプは、可変容量型のポンプであり、上記の油圧システムは、前記ポンプと前記油圧アクチュエータとの間に介在する、前記油圧アクチュエータへの供給量を調整する制御弁と、前記制御弁のメータイン絞りの上流側と下流側との差圧が一定となるように前記ポンプの傾転角を調整するレギュレータであって、前記操作装置から出力される操作信号が大きくなるほど前記ポンプの吐出流量を増大させるレギュレータと、をさらに備えてもよい。 Alternatively, the pump is a variable displacement pump, and the hydraulic system includes a control valve interposed between the pump and the hydraulic actuator to adjust the supply amount to the hydraulic actuator, and the control valve. A regulator that adjusts the tilt angle of the pump so that the differential pressure between the upstream side and the downstream side of the meter-in throttle is constant. The larger the operation signal output from the operating device, the larger the discharge flow rate of the pump. A regulator that increases the number of components may be further provided.

本発明によれば、エネルギの無駄な消費を抑制しつつ、急加速操作時の油圧アクチュエータの挙動を安定化することができる。 According to the present invention, it is possible to stabilize the behavior of the hydraulic actuator during a sudden acceleration operation while suppressing wasteful consumption of energy.

本発明の一実施形態に係る油圧システムの概略構成図である。It is a schematic block diagram of the hydraulic system which concerns on one Embodiment of this invention. （ａ）は操作装置の操作部に対する操作量と制御弁の開口面積との関係を示すグラフ、（ｂ）は操作装置の操作部に対する操作量とブリード弁の開口面積との関係を示すグラフである。(A) is a graph showing the relationship between the operating amount of the operating device with respect to the operating unit and the opening area of the control valve, and (b) is a graph showing the relationship between the operating amount of the operating device with respect to the operating unit and the opening area of the bleed valve. is there. （ａ）および（ｂ）は操作装置に対して急加速操作が行われたときのグラフであり、（ａ）は操作量の経時的変化を示し、（ｂ）はブリード弁の開口面積の経時的変化を示す。(A) and (b) are graphs when a sudden acceleration operation is performed on the operating device, (a) shows a change over time in the amount of operation, and (b) is a time-lapse of the opening area of the bleed valve. Shows a change. （ａ）および（ｂ）は操作装置に対して緩加速操作が行われたときのグラフであり、（ａ）は操作量の経時的変化を示し、（ｂ）はブリード弁の開口面積の経時的変化を示す。(A) and (b) are graphs when a slow acceleration operation is performed on the operating device, (a) shows a change over time in the amount of operation, and (b) is a time-lapse of the opening area of the bleed valve. Shows a change. 制御弁が複数在る場合の変形例を示す図である。It is a figure which shows the modification when there are a plurality of control valves.

図１に、本発明の一実施形態に係る油圧システム１を示す。油圧システム１は、例えば、油圧ショベルや油圧クレーンのような建設機械、土木機械、農業機械または産業機械に搭載される。 FIG. 1 shows a hydraulic system 1 according to an embodiment of the present invention. The hydraulic system 1 is mounted on, for example, a construction machine such as a hydraulic excavator or a hydraulic crane, a civil engineering machine, an agricultural machine or an industrial machine.

具体的に、油圧システム１は、油圧アクチュエータ５と、油圧アクチュエータ５へ制御弁４を介して作動油を供給する主ポンプ２１を含む。図例では、油圧アクチュエータ５と制御弁４のセットが１つであるが、油圧アクチュエータ５と制御弁４のセットは複数設けられてもよい。 Specifically, the hydraulic system 1 includes a hydraulic actuator 5 and a main pump 21 that supplies hydraulic oil to the hydraulic actuator 5 via a control valve 4. In the illustrated example, the hydraulic actuator 5 and the control valve 4 are set in one set, but a plurality of sets of the hydraulic actuator 5 and the control valve 4 may be provided.

主ポンプ２１は、傾転角が変更可能な、可変容量型のポンプである。主ポンプ２１は、斜板ポンプであってもよいし、斜軸ポンプであってもよい。主ポンプ２１の傾転角は、レギュレータ２２により調整される。 The main pump 21 is a variable displacement pump whose tilt angle can be changed. The main pump 21 may be a swash plate pump or a swash shaft pump. The tilt angle of the main pump 21 is adjusted by the regulator 22.

主ポンプ２１は、供給ライン３１により制御弁４と接続されている。主ポンプ２１の吐出圧は、図略のリリーフ弁によってリリーフ圧以下に保たれる。 The main pump 21 is connected to the control valve 4 by a supply line 31. The discharge pressure of the main pump 21 is kept below the relief pressure by the relief valve (not shown).

本実施形態では、油圧アクチュエータ５が複動シリンダであり、制御弁４が一対の給排ライン４１により油圧アクチュエータ５と接続されている。ただし、油圧アクチュエータ５が単動シリンダであり、制御弁４が１本の給排ライン４１により油圧アクチュエータ５と接続されてもよい。あるいは、油圧アクチュエータ５は、油圧モータであってもよい。 In the present embodiment, the hydraulic actuator 5 is a double-acting cylinder, and the control valve 4 is connected to the hydraulic actuator 5 by a pair of supply / discharge lines 41. However, the hydraulic actuator 5 may be a single-acting cylinder, and the control valve 4 may be connected to the hydraulic actuator 5 by one supply / discharge line 41. Alternatively, the hydraulic actuator 5 may be a hydraulic motor.

制御弁４は、主ポンプ２１と油圧アクチュエータ５との間に介在し、油圧アクチュエータ５への供給量を調整する。制御弁４は、操作装置６が操作されることによって、中立位置から第１位置（油圧アクチュエータ５を一方向に作動させる位置）または第２位置（油圧アクチュエータ５を逆方向に作動させる位置）に切り換えられる。本実施形態では、制御弁４が油圧パイロット式であり、一対のパイロットポートを有する。ただし、制御弁４は、電磁パイロット式であってもよい。第１位置または第２位置において、制御弁４における供給ライン２１と一方の給排ライン４１とを連通させる開口はメータイン絞りとして機能する。 The control valve 4 is interposed between the main pump 21 and the hydraulic actuator 5 to adjust the supply amount to the hydraulic actuator 5. The control valve 4 is moved from the neutral position to the first position (the position where the hydraulic actuator 5 is operated in one direction) or the second position (the position where the hydraulic actuator 5 is operated in the opposite direction) by operating the operating device 6. Can be switched. In this embodiment, the control valve 4 is a hydraulic pilot type and has a pair of pilot ports. However, the control valve 4 may be an electromagnetic pilot type. In the first position or the second position, the opening for communicating the supply line 21 and one supply / discharge line 41 in the control valve 4 functions as a meter-in throttle.

操作装置６は、操作部６１を有し、操作部６１に対する操作量に応じた操作信号を出力する。つまり、操作装置６から出力される操作信号は、操作量が大きくなるほど大きくなる。操作部６１は、例えば操作レバーであるが、フットペダルなどであってもよい。 The operation device 6 has an operation unit 61 and outputs an operation signal according to the amount of operation for the operation unit 61. That is, the operation signal output from the operation device 6 increases as the operation amount increases. The operation unit 61 is, for example, an operation lever, but may be a foot pedal or the like.

本実施形態では、操作装置６が、操作信号としてパイロット圧を出力するパイロット操作弁である。このため、操作装置６が一対のパイロットライン４２により制御弁４のパイロットポートと接続されている。そして、図２（ａ）に示すように、操作装置６から出力されるパイロット圧（操作信号）が大きくなるほど、制御弁４が、油圧アクチュエータ５への作動油供給用のメータイン開口および油圧アクチュエータ５からの作動油排出用のメータアウト開口の開口面積を増大させる。 In the present embodiment, the operation device 6 is a pilot operation valve that outputs a pilot pressure as an operation signal. Therefore, the operating device 6 is connected to the pilot port of the control valve 4 by a pair of pilot lines 42. Then, as shown in FIG. 2A, as the pilot pressure (operation signal) output from the operation device 6 becomes larger, the control valve 4 opens the meter-in opening for supplying hydraulic oil to the hydraulic actuator 5 and the hydraulic actuator 5 Increase the opening area of the meter-out opening for draining hydraulic oil from.

ただし、操作装置６は、操作信号として電気信号を出力する電気ジョイスティックであってもよい。この場合、制御弁４の各パイロットポートは、電磁比例弁の二次圧ポートと接続される。 However, the operation device 6 may be an electric joystick that outputs an electric signal as an operation signal. In this case, each pilot port of the control valve 4 is connected to the secondary pressure port of the electromagnetic proportional valve.

上述したレギュレータ２２は、本実施形態では、電気信号により作動する。例えば、レギュレータ２２は、主ポンプ２１が斜板ポンプである場合、主ポンプ２１の斜板と連結されたサーボピストンに作用する油圧を電気的に変更するものであってもよいし、主ポンプ２１の斜板と連結された電動アクチュエータであってもよい。 In the present embodiment, the regulator 22 described above is operated by an electric signal. For example, when the main pump 21 is a swash plate pump, the regulator 22 may electrically change the hydraulic pressure acting on the servo piston connected to the swash plate of the main pump 21 or the main pump 21. It may be an electric actuator connected to the swash plate of.

レギュレータ２２は、制御装置７により制御される。例えば、制御装置７は、ＲＯＭやＲＡＭなどのメモリとＣＰＵを有し、ＲＯＭに格納されたプログラムがＣＰＵにより実行される。 The regulator 22 is controlled by the control device 7. For example, the control device 7 has a memory such as a ROM or RAM and a CPU, and the program stored in the ROM is executed by the CPU.

制御装置７は、上述した一対のパイロットライン４２のそれぞれに設けられた圧力センサ８と電気的に接続されている。ただし、図１では、図面の簡略化のために一部の信号線のみを描いている。 The control device 7 is electrically connected to the pressure sensors 8 provided in each of the pair of pilot lines 42 described above. However, in FIG. 1, only some signal lines are drawn for the sake of simplification of the drawing.

圧力センサ８は、操作装置６から出力されるパイロット圧を検出する。そして、制御装置７は、圧力センサ８で検出されるパイロット圧（操作信号）が大きくなるほど主ポンプ２１の吐出流量が増加するように、レギュレータ２２を制御する。 The pressure sensor 8 detects the pilot pressure output from the operating device 6. Then, the control device 7 controls the regulator 22 so that the discharge flow rate of the main pump 21 increases as the pilot pressure (operation signal) detected by the pressure sensor 8 increases.

上述した供給ライン３１からはブリードライン３２が分岐している。ブリードライン３２には、ブリード弁３３が設けられている。ブリード弁３３は、主ポンプ２１から吐出された作動油をタンクへ逃すブリード流量を規定する。図例では、ブリード弁３３が制御弁４の上流側に配置されているが、ブリード弁３３は、図５に示すように制御弁４が複数在り、供給ライン３１が主流路３１ａおよび主流路３１ａと各制御弁４のポンプポートとを接続する並列路３１ｂを有する場合は、ブリードライン３１が全ての並列路３１ｂの下流側で主流路３１ａから分岐してもよい。 A bleed line 32 is branched from the above-mentioned supply line 31. The bleed line 32 is provided with a bleed valve 33. The bleed valve 33 defines the bleed flow rate at which the hydraulic oil discharged from the main pump 21 is released to the tank. In the illustrated example, the bleed valve 33 is arranged on the upstream side of the control valve 4, but the bleed valve 33 has a plurality of control valves 4 as shown in FIG. 5, and the supply lines 31 are the main flow path 31a and the main flow path 31a. When having a parallel path 31b connecting the pump port of each control valve 4 and the pump port of each control valve 4, the bleed line 31 may branch from the main flow path 31a on the downstream side of all the parallel paths 31b.

本実施形態では、ブリード弁３３がパイロットポートを有し、パイロット圧が高くなるほどブリード弁３３の開口面積が全開状態から全閉状態に向かって減少する。ただし、ブリード弁３３は、必ずしもパイロット圧により作動する必要はなく、電気信号により作動してもよい。 In the present embodiment, the bleed valve 33 has a pilot port, and as the pilot pressure increases, the opening area of the bleed valve 33 decreases from the fully open state to the fully closed state. However, the bleed valve 33 does not necessarily have to be operated by the pilot pressure, and may be operated by an electric signal.

ブリード弁３３は、電磁比例弁３５を介して制御装置７により制御される。具体的に、ブリード弁３３のパイロットポートは、二次圧ライン３４により電磁比例弁３５の二次圧ポートと接続されている。電磁比例弁３５の一次圧ポートは、一次圧ライン３６により副ポンプ２３と接続されている。副ポンプ２３の吐出圧は、図略のリリーフ弁によって設定圧に維持される。 The bleed valve 33 is controlled by the control device 7 via the electromagnetic proportional valve 35. Specifically, the pilot port of the bleed valve 33 is connected to the secondary pressure port of the electromagnetic proportional valve 35 by the secondary pressure line 34. The primary pressure port of the electromagnetic proportional valve 35 is connected to the auxiliary pump 23 by the primary pressure line 36. The discharge pressure of the auxiliary pump 23 is maintained at the set pressure by the relief valve (not shown).

本実施形態では、電磁比例弁３５が、当該電磁比例弁３５に送給される指令電流と当該電磁比例弁３５が出力する二次圧とが正の相関を示す正比例型である。ただし、電磁比例弁３５は、当該電磁比例弁３５に送給される指令電流と当該電磁比例弁３５が出力する二次圧とが負の相関を示す逆比例型であってもよい。 In the present embodiment, the electromagnetic proportional valve 35 is a direct proportional type in which the command current sent to the electromagnetic proportional valve 35 and the secondary pressure output by the electromagnetic proportional valve 35 show a positive correlation. However, the electromagnetic proportional valve 35 may be of an inverse proportional type in which the command current sent to the electromagnetic proportional valve 35 and the secondary pressure output by the electromagnetic proportional valve 35 show a negative correlation.

制御装置７は、操作装置６から出力されるパイロット圧（操作信号）が大きくなるほどブリード弁３３の開口面積が減少するように、ブリード弁３３を制御する。さらに、本実施形態では、制御装置７が操作装置６に対して急加速操作（油圧アクチュエータ５の速度を急激に上昇させる操作）が行われたか否かを判定し、その結果によって、ブリード弁３３の制御を異ならせる。 The control device 7 controls the bleed valve 33 so that the opening area of the bleed valve 33 decreases as the pilot pressure (operation signal) output from the operation device 6 increases. Further, in the present embodiment, the control device 7 determines whether or not a sudden acceleration operation (an operation for rapidly increasing the speed of the hydraulic actuator 5) has been performed on the operation device 6, and based on the result, the bleed valve 33 Different controls.

具体的に、制御装置７は、圧力センサ８で検出されるパイロット圧の時間変化率が閾値よりも大きいか否かを判定する。パイロット圧の時間変化率が閾値よりも大きい場合が急加速操作が行われた場合であり、パイロット圧の時間変化率が閾値よりも小さい場合が急加速操作が行われない場合である。急加速操作が行われない場合とは、例えば、緩加速操作が行われた場合、操作量が維持された場合、減速操作（油圧アクチュエータ５の速度を低下させる操作）が行われた場合である。 Specifically, the control device 7 determines whether or not the time change rate of the pilot pressure detected by the pressure sensor 8 is larger than the threshold value. When the time change rate of the pilot pressure is larger than the threshold value, the sudden acceleration operation is performed, and when the time change rate of the pilot pressure is smaller than the threshold value, the sudden acceleration operation is not performed. The case where the sudden acceleration operation is not performed is, for example, a case where a slow acceleration operation is performed, a case where the operation amount is maintained, or a case where a deceleration operation (an operation for reducing the speed of the hydraulic actuator 5) is performed. ..

急加速操作が行われない場合には、制御装置７は、図２（ｂ）に示すように、ブリード弁３３の開口面積を標準開口線Ｌｎに沿って最大値αとゼロとの間で変化させる。本実施形態では、標準開口線Ｌｎが、初期の比較的に狭い範囲でブリード弁３３の開口面積が最大値αから大きく減少し、その後の比較的に広い範囲でブリード弁３３の開口面積がゼロまでゆっくりと減少するように、傾きの絶対値の大きな第１直線部と傾きの絶対値の小さな第２直線部とで構成されている。 When the sudden acceleration operation is not performed, the control device 7 changes the opening area of the bleed valve 33 between the maximum values α and zero along the standard opening line Ln, as shown in FIG. 2 (b). Let me. In the present embodiment, the opening area of the bleed valve 33 is greatly reduced from the maximum value α in the initial relatively narrow range of the standard opening line Ln, and the opening area of the bleed valve 33 is zero in the subsequent relatively wide range. It is composed of a first straight line portion having a large absolute value of inclination and a second straight line portion having a small absolute value of inclination so as to slowly decrease to.

例えば、図４（ａ）に示すように操作装置が中立状態からフル操作状態に操作されるように緩加速操作が行われた場合には、ブリード弁３３の開口面積は図４（ｂ）に示すように最大値からゼロまで徐々に減少する。 For example, when the slow acceleration operation is performed so that the operating device is operated from the neutral state to the full operating state as shown in FIG. 4A, the opening area of the bleed valve 33 is shown in FIG. 4B. As shown, it gradually decreases from the maximum value to zero.

一方、急加速操作が行われた場合には、制御装置７は、急加速操作の開始から所定時間Ｔ経過するまでは、ブリード弁３３の開口面積を特殊開口線Ｌｓに沿って最大値αとゼロよりも大きな最小値βとの間で変化させる。本実施形態では、特殊開口線Ｌｓが、初期の比較的に狭い範囲でブリード弁３３の開口面積が最大値αから大きく減少し、その後の比較的に広い範囲でブリード弁３３の開口面積が最小値βまでゆっくりと減少するように、傾きの絶対値の大きな第１直線部と傾きの絶対値の小さな第２直線部とで構成されている。 On the other hand, when the sudden acceleration operation is performed, the control device 7 sets the opening area of the bleed valve 33 to the maximum value α along the special opening line Ls from the start of the sudden acceleration operation until a predetermined time T elapses. Change with a minimum value β greater than zero. In the present embodiment, the opening area of the bleed valve 33 is greatly reduced from the maximum value α in the initial relatively narrow range of the special opening line Ls, and the opening area of the bleed valve 33 is minimized in the subsequent relatively wide range. It is composed of a first straight line portion having a large absolute value of inclination and a second straight line portion having a small absolute value of inclination so as to slowly decrease to the value β.

本実施形態では、特殊開口線Ｌｓの第１直線部は、標準開口線Ｌｎの第１直線部よりも短く、標準開口線Ｌｎの第１直線部と重なり合っている。また、特殊開口線Ｌｓの第２直線部は、標準開口線Ｌｎの第２直線部と平行である。 In the present embodiment, the first straight portion of the special opening line Ls is shorter than the first straight portion of the standard opening line Ln and overlaps with the first straight portion of the standard opening line Ln. Further, the second straight line portion of the special opening line Ls is parallel to the second straight line portion of the standard opening line Ln.

さらに、制御装置７は、急加速操作が行われた場合には、急加速操作の開始から所定時間Ｔ経過したときに、ブリード弁３３の開口面積を、特殊開口線Ｌｓ上の点から、この点と同一のパイロット圧（操作信号）に対応する標準開口線Ｌｎ上の点にシフトさせる。 Further, when the sudden acceleration operation is performed, the control device 7 adjusts the opening area of the bleed valve 33 from the point on the special opening line Ls when a predetermined time T elapses from the start of the sudden acceleration operation. Shift to a point on the standard opening line Ln corresponding to the same pilot pressure (operation signal) as the point.

例えば、図３（ａ）に示すように操作装置が中立状態からフル操作状態に操作されるように急加速操作が行われた場合には、ブリード弁３３の開口面積は図３（ｂ）に示すように最大値αから最小値βまで徐々に減少する。その後、ブリード弁３３の開口面積は、急加速操作の開始から所定時間Ｔ経過するまで最小値βに維持され、所定時間経過後にゼロとなる。 For example, when a sudden acceleration operation is performed so that the operating device is operated from the neutral state to the fully operated state as shown in FIG. 3A, the opening area of the bleed valve 33 is shown in FIG. 3B. As shown, it gradually decreases from the maximum value α to the minimum value β. After that, the opening area of the bleed valve 33 is maintained at the minimum value β from the start of the sudden acceleration operation until the elapse of the predetermined time T, and becomes zero after the elapse of the predetermined time.

以上説明したように、本実施形態の油圧システム１では、急加速操作時には、急加速操作の開始から所定時間Ｔ経過するまではブリード弁３３の開口面積がゼロよりも大きく保たれるので、油圧アクチュエータ５の挙動を安定化することができる。一方、非急加速操作時には、ブリード弁３３の開口面積が標準開口線Ｌｎに沿って変化して操作量が大きくなればブリード弁３３の開口面積がゼロとなるので、エネルギの無駄な消費を抑制することができる。 As described above, in the hydraulic system 1 of the present embodiment, during the sudden acceleration operation, the opening area of the bleed valve 33 is maintained larger than zero from the start of the sudden acceleration operation until a predetermined time T elapses. The behavior of the actuator 5 can be stabilized. On the other hand, during non-rapid acceleration operation, if the opening area of the bleed valve 33 changes along the standard opening line Ln and the amount of operation increases, the opening area of the bleed valve 33 becomes zero, so that wasteful energy consumption is suppressed. can do.

ところで、急加速操作の開始から所定時間Ｔ経過した後も、ブリード弁３３の開口面積を特殊開口線Ｌｓ上の点に維持することも可能である。しかし、本実施形態のように、急加速操作の開始から所定時間Ｔ経過したときに、ブリード弁３３の開口面積を標準開口線Ｌｎ上の点にシフトさせれば、急加速操作時の所定時間Ｔ経過後もエネルギの無駄な消費を抑制することができる。 By the way, it is also possible to maintain the opening area of the bleed valve 33 at a point on the special opening line Ls even after a predetermined time T has elapsed from the start of the sudden acceleration operation. However, as in the present embodiment, if the opening area of the bleed valve 33 is shifted to a point on the standard opening line Ln when a predetermined time T elapses from the start of the sudden acceleration operation, the predetermined time during the sudden acceleration operation is performed. Wasteful energy consumption can be suppressed even after the lapse of T.

（変形例）
本発明は上述した実施形態に限定されるものではなく、本発明の要旨を逸脱しない範囲で種々の変形が可能である。 (Modification example)
The present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the gist of the present invention.

例えば、レギュレータ２２は、必ずしも電気信号により作動する必要はなく、パイロット圧により作動してもよい。この場合、主ポンプ２１の吐出流量は、例えば、ロードセンシング方式により制御されてもよい。 For example, the regulator 22 does not necessarily have to be operated by an electric signal, but may be operated by a pilot pressure. In this case, the discharge flow rate of the main pump 21 may be controlled by, for example, a load sensing method.

主ポンプ２１の吐出流量がロードセンシング方式により制御される場合、レギュレータ２２には、主ポンプ２１の吐出圧と油圧アクチュエータ５の供給側圧力（負荷圧）とが導かれる。レギュレータ２２は、制御弁４のメータイン絞りの上流側と下流側との差圧が一定となるように主ポンプ２１の傾転角を調整し、操作装置６から出力される操作信号が大きくなるほど主ポンプ２１の吐出流量を増大させる。 When the discharge flow rate of the main pump 21 is controlled by the load sensing method, the discharge pressure of the main pump 21 and the supply side pressure (load pressure) of the hydraulic actuator 5 are guided to the regulator 22. The regulator 22 adjusts the tilt angle of the main pump 21 so that the differential pressure between the upstream side and the downstream side of the meter-in throttle of the control valve 4 becomes constant. Increase the discharge flow rate of the pump 21.

１ 油圧システム
２１ 主ポンプ
２２ レギュレータ
３３ ブリード弁
４ 制御弁
５ 油圧アクチュエータ
６ 操作装置
６１ 操作部
７ 制御装置
1 Flood control system 21 Main pump 22 Regulator 33 Bleed valve 4 Control valve 5 Hydraulic actuator 6 Operating device 61 Operating unit 7 Control device

Claims (4)

操作部に対する操作量に応じた操作信号を出力する操作装置と、
制御弁を介して油圧アクチュエータへ作動油を供給するポンプと、
前記ポンプから吐出された作動油をタンクへ逃すブリード流量を規定するブリード弁と、
前記操作装置から出力される操作信号が大きくなるほど前記ブリード弁の開口面積が減少するように前記ブリード弁を制御する制御装置と、を備え、
前記制御装置は、前記操作装置に対して急加速操作が行われたか否かを判定し、急加速操作が行われない場合には、前記ブリード弁の開口面積を標準開口線に沿って最大値とゼロとの間で変化させ、急加速操作が行われた場合には、急加速操作の開始から所定時間経過するまでは、前記ブリード弁の開口面積を特殊開口線に沿って前記最大値とゼロよりも大きな最小値との間で変化させる、油圧システム。 An operation device that outputs an operation signal according to the amount of operation on the operation unit,
A pump that supplies hydraulic oil to the flood control actuator via a control valve,
A bleed valve that regulates the bleed flow rate that allows the hydraulic oil discharged from the pump to escape to the tank,
A control device for controlling the bleed valve so that the opening area of the bleed valve decreases as the operation signal output from the operation device increases.
The control device determines whether or not a sudden acceleration operation has been performed on the operating device, and if no sudden acceleration operation is performed, the maximum value of the opening area of the bleed valve along the standard opening line. When a sudden acceleration operation is performed by changing between zero and zero, the opening area of the bleed valve is set to the maximum value along the special opening line from the start of the sudden acceleration operation until a predetermined time elapses. A hydraulic system that varies from a minimum value greater than zero. 前記制御装置は、急加速操作が行われた場合には、急加速操作の開始から所定時間経過したときに、前記ブリード弁の開口面積を、前記特殊開口線上の点から前記標準開口線上の点にシフトさせる、請求項１に記載の油圧システム。 When a sudden acceleration operation is performed, the control device changes the opening area of the bleed valve from a point on the special opening line to a point on the standard opening line when a predetermined time has elapsed from the start of the sudden acceleration operation. The hydraulic system according to claim 1, wherein the hydraulic system is shifted to. 前記ポンプは、可変容量型のポンプであり、
前記ポンプの傾転角を調整するレギュレータをさらに備え、
前記制御装置は、前記操作装置から出力される操作信号が大きくなるほど前記ポンプの吐出流量が増加するように、前記レギュレータを制御する、請求項１または２に記載の油圧システム。 The pump is a variable displacement type pump.
Further equipped with a regulator for adjusting the tilt angle of the pump,
The hydraulic system according to claim 1 or 2, wherein the control device controls the regulator so that the discharge flow rate of the pump increases as the operation signal output from the operation device increases. 前記ポンプは、可変容量型のポンプであり、
前記ポンプと前記油圧アクチュエータとの間に介在する、前記油圧アクチュエータへの供給量を調整する制御弁と、
前記制御弁のメータイン絞りの上流側と下流側との差圧が一定となるように前記ポンプの傾転角を調整するレギュレータであって、前記操作装置から出力される操作信号が大きくなるほど前記ポンプの吐出流量を増大させるレギュレータと、をさらに備える、請求項１または２に記載の油圧システム。 The pump is a variable displacement type pump.
A control valve that is interposed between the pump and the hydraulic actuator and that adjusts the amount of supply to the hydraulic actuator.
A regulator that adjusts the tilt angle of the pump so that the differential pressure between the upstream side and the downstream side of the meter-in throttle of the control valve becomes constant. The larger the operating signal output from the operating device, the larger the pump. The hydraulic system according to claim 1 or 2, further comprising a regulator for increasing the discharge flow rate of the above.
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